Systems, methods, and computer-program products to control semi-autonomous operation of a mobile work machine

A method regarding semi-autonomous control of an earth moving work machine at a worksite, the method comprising:

• determining, using circuitry, whether a steering assist mode is in an enabled state;
• determining, using the circuitry, whether an approach angle of the earth moving work machine relative to a target travel line along which a focus point of the earth moving work machine is to travel is within a predetermined angle range relative to said target travel line along which the focus point of the excavator is to travel,
• wherein the target travel line along which the the focus point of the earth moving work machine is to travel is set in correspondence with and relative to a target design shape for a work area;
• determining, using the circuitry, whether the focus point of the earth moving work machine has entered a capture area for activating the steering assist mode,
• wherein the capture area to activate the steering assist mode is a set distance away from the target travel line;
• activating, using the circuitry, the steering assist mode under a condition that the steering assist mode is enabled, the approach angle of the earth moving work machine relative to the target travel line is within the predetermined angle range, and the focus point of the earth moving work machine is determined to have entered the capture area for activating the steering assist mode;
• and
• with the steering assist mode activated, outputting, using the circuitry, control signaling to semi-autonomously control travel of the earth moving work machine along the target travel line responsive to receipt of a first operator input in a cab of the earth moving work machine and/or a second operator input in the cab of the earth moving work machine at or above a predetermined threshold.

A non-transitory computer-readable storage medium having stored thereon instructions that, when executed by one or more processors of an excavator, causes the one or more processors to perform a method comprising:

• activating a steering assist mode to control travel of the excavator responsive to the steering assist mode being in an enabled state, an approach angle of the excavator being within a predetermined angle range relative to a target travel line along which a focus point of the excavator is to travel to perform work at a design line or contour at a worksite, and the focus point of the excavator being within a capture area for activating the steering assist mode;
• and
• with the steering assist mode in an activated state based on said activating, controlling travel of the excavator relative to the target travel line responsive to receipt of a first operator input in a cab of the excavator and/or a second operator input in the cab of the excavator continuously at or above a predetermined threshold,
• wherein the target travel line for the focus point of the excavator to travel along is set in correspondence with and relative to the design line or contour at the worksite,
• wherein the capture area for activating the steering assist mode is a set distance away from the target travel line, and
• wherein prior to said activating the steering assist mode the focus point of the excavator is outside the capture area for activating the steering assist mode.